Class _AttachmentFrameChild

dm_control/mjcf/element.py:1107–1139

A child element of an attachment frame. Right now, this is always a or a . The name of the joint is not freely specifiable, but instead just inherits from the parent frame. This ensures uniqueness, as attachment frame identifiers always end in '/'.

class _AttachmentFrameChild(_ElementImpl):
  """A child element of an attachment frame.

  Right now, this is always a <joint> or a <freejoint>. The name of the joint
  is not freely specifiable, but instead just inherits from the parent frame.
  This ensures uniqueness, as attachment frame identifiers always end in '/'.
  """
  __slots__ = []

  def to_xml(self, prefix_root=None, debug_context=None,
             *,
             precision=constants.XML_DEFAULT_PRECISION,
             zero_threshold=0,
             filename_with_hash=True):
    xml_element = (super().to_xml(prefix_root, debug_context,
                                  precision=precision,
                                  zero_threshold=zero_threshold,
                                  filename_with_hash=filename_with_hash))
    if self.spec.namespace is not None:
      if self.name:
        name = (self._parent.prefixed_identifier(prefix_root) +
                self.name + constants.PREFIX_SEPARATOR)
      else:
        name = self._parent.prefixed_identifier(prefix_root)
      xml_element.set('name', name)
    return xml_element

  def prefixed_identifier(self, prefix_root=None):
    if self.name:
      return (self._parent.prefixed_identifier(prefix_root) +
              self.name + constants.PREFIX_SEPARATOR)
    else:
      return self._parent.prefixed_identifier(prefix_root)


class _DefaultElement(_ElementImpl):